Our approach relies on SuMa, but we only summarize here the main steps relevant to our approach and refer for more details to the original paper [1]}.
SuMa first generates a spherical projection of the point cloud \(\mathcal {P}\)  at timestep \(t\) , the so-called vertex map \(\mathcal {V}_D\) , which is then used to generate a corresponding normal map \(\mathcal {N}_D\) . Given this information, SuMa determines via projective ICP in a rendered map view \(\mathcal {V}_M\)  and \(\mathcal {N}_M\)  at timestep \(t-1\)  the pose update \(\mathbf {T}_{C_{t-1}C_{t}}\)  and consequently \(\mathbf {T}_{WC_t}\)  by chaining all pose increments.
